void HandleDriverInputsAutomatic(void)
{
//myRobot.ArcadeDrive(stick);
if(DoubleSolenoid::kReverse == shifter.Get())
{
if(stick.GetY() < -0.25)
{
shifter.Set(DoubleSolenoid::kForward);
}
}
// If the robot is in low gear and is over 0.2 input,
// then switch into high gear.
else if(stick.GetY() > -0.2)
{
shifter.Set(DoubleSolenoid::kReverse);
}
SquareInputs();
}
void DriveTrain::Drive(Joystick* joy) {
#if JOYTYPE == XBOX_GAMEPAD
double left=-joy->GetRawAxis(1);
double right=-joy->GetRawAxis(4);
#else
double left=-joy->GetY();
double right=-joy->GetRawAxis(4);
#endif
if(reverse_driving){
double r=right;
double l=left;
left=-r;
right=-l;
}
//std::cout<<"l:"<<left<<" r:"<<right<<std::endl;
Limit(left);
Limit(right);
if(squared_inputs)
SquareInputs(left,right);
left=Deadband(left,x_deadband);
right=Deadband(right,y_deadband);
Drive(left,right);
}
